Self-propelled cleaning machine

Abstract

A self-propelled cleaning machine includes a base, a walking module, a lift module, a cleaning device and a reciprocating device. The lift module includes a lift seat, which is provided below the base and is configured to move up and down relative to the base for the lift seat to approach or depart from the base. The reciprocating device is connected to the cleaning device. At least a portion of the reciprocating device is configured to be connected to the lift seat of the lift module, so that the at least a portion of the reciprocating device moves up and down along with up-and-down movements of the lift seat. Moreover, the reciprocating device is configured to enable the cleaning device to perform a reciprocating motion relative to the lift seat in a mopping mode to thereby mop the floor back and forth.

1 . A self-propelled cleaning machine, comprising:
 a base;   a walking module, neighboring on the base, configured to contact a floor when the self-propelled cleaning machine moves on the floor;   a lift module, comprising a lift seat, wherein the lift seat is provided below the base and is configured to move up and down relative to the base for the lift seat to approach or depart from the base;   a cleaning device, configured to contact the floor when the self-propelled cleaning machine is in a mopping mode for cleaning the floor; and   a reciprocating device, connected to the cleaning device;   wherein, at least a portion of the reciprocating device is configured to be connected to the lift seat of the lift module, so that the at least a portion of the reciprocating device moves up and down along with up-and-down movements of the lift seat, and the reciprocating device is configured to enable the cleaning device to perform a reciprocating motion relative to the lift seat in the mopping mode.   
     
     
         2 . The self-propelled cleaning machine according to  claim 1 , wherein the lift module comprises at least one rocker, a first end of the at least one rocker is rotatably connected to the base, and a second end of the at least one rocker is rotatably connected to the lift seat and is capable of moving up and down along with the up-and-down movements of the lift seat. 
     
     
         3 . The self-propelled cleaning machine according to  claim 2 , wherein the lift module further comprises:
 a crank device;   an abutting portion, crossing a portion of the crank device and connected to the lift seat; and   a driving device, provided on the base, the driving device configured to drive the crank device to rotate;   wherein, the lift module is configured to cause the portion of the crank device to apply a force on the abutting portion via a rotation of the crank device to thereby lift the lift seat.   
     
     
         4 . The self-propelled cleaning machine according to  claim 3 , wherein the crank device comprises:
 a crankshaft, provided at the base;   a force arm, connected to the crankshaft; and   a tooth portion, provided at the crankshaft and coupled to the driving device; and   wherein the crank device is configured to rotate the crankshaft when the driving device drives the tooth portion to rotate in a first rotation direction or a second rotation direction, and to cause an end of the force arm to approach or depart from the base via the rotation of the crankshaft.   
     
     
         5 . The self-propelled cleaning machine according to  claim 4 , wherein the crankshaft leans against a protrusion on the base and hence rotates; the tooth portion has a plurality of continuous teeth, and two ends of the plurality of teeth form an upper starting point and a lower starting point, respectively; the driving device comprises:
 a gear, engaged with the tooth portion of the crank device; and   a lift motor outputting a torque in the first rotation direction or the second rotation direction, and the lift motor driving the gear and the tooth portion to rotate in the first rotation direction or the second rotation direction.   
     
     
         6 . The self-propelled cleaning machine according to  claim 5 , wherein the reciprocating device comprises:
 a mopping motor;   a mopping crankshaft, configured to be driven and rotated by the mopping motor; and   a mopping crank arm, having a first end connected to the mopping crankshaft, and a second end configured to be connected to the cleaning device and to perform a reciprocating motion along with a rotation of the mopping crankshaft;   wherein, the mopping motor, the mopping crankshaft and the mopping crank arm of the reciprocating device move up and down along with the up-and-down movements of the lift seat.   
     
     
         7 . The self-propelled cleaning machine according to  claim 4 , wherein the at least one rocker comprises:
 a first rocker; and   a second rocker;   wherein, the first rocker and the second rocker are located on two opposite sides of an extension direction of the mopping crank arm, respectively.   
     
     
         8 . The self-propelled cleaning machine according to  claim 7 , wherein
 the first rocker and the second rocker are connected by a connecting rod, the at least one rocker further comprises a third rocker and a fourth rocker, and   the third rocker and the fourth rocker are located on the two opposite sides of the extension direction of the mopping crank arm, respectively.   
     
     
         9 . The self-propelled cleaning machine according to  claim 8 , wherein
 a second end of the first rocker, a second end of the second rocker, a second end of the third rocker and a second end of the fourth rocker are respectively connected to an upper surface of the lift seat, and   a position of the abutting portion at which a force is applied by the lift motor or the end of the force arm is located within a range defined by the first rocker, the second rocker, the third rocker and the fourth rocker.   
     
     
         10 . The self-propelled cleaning machine according to  claim 6 , wherein
 the mopping motor is provided above the lift seat,   the lift seat is defined with an opening,   the first end of the mopping crank arm is located on an upper side of the lift seat, the second end of the mopping crank arm is located on a lower side the lift seat, the mopping crank arm passes through the opening from the upper side of the lift seat and extends to the lower side of the lift seat, and   the mopping motor, the mopping crankshaft and the mopping crank arm move up and down along with the up-and-down movements of the lift seat.   
     
     
         11 . The self-propelled cleaning machine according to  claim 6 , wherein the base is defined with an accommodating opening, and the mopping motor, the mopping crankshaft and the mopping crank arm are located in the accommodating opening and move up and down along with the up-and-down movements of the lift seat. 
     
     
         12 . The self-propelled cleaning machine according to  claim 1 , wherein
 the cleaning device comprises a first guide structure,   the lift seat comprises a second guide structure, and   the first guide structure coordinates with the second guide structure to guide the reciprocating motion of the cleaning device.   
     
     
         13 . The self-propelled cleaning machine according to  claim 12 , wherein
 one of the first guide structure and the second guide structure is a slide block,   the other one of the first guide structure and the second guide structure is a guide groove, and   the slide block is provided in the guide groove and is capable of performing a reciprocating motion in the guide groove, thereby enabling the cleaning device to perform the reciprocating motion relative to the lift seat.   
     
     
         14 . The self-propelled cleaning machine according to  claim 1 , wherein the cleaning device comprises:
 a cleaning cloth holder, disposed below the lift seat; and   a cleaning cloth, provided on a bottom surface of the cleaning cloth holder, and configured to contact the floor.   
     
     
         15 . The self-propelled cleaning machine according to  claim 14 , wherein the cleaning device further comprises:
 a roller, located between the cleaning cloth holder and the lift seat and rolling on the cleaning cloth holder or the lift seat to thereby reduce a frictional force between the cleaning cloth holder and the lift seat.